위성신호 취약구역 극복을 위한 GNSS-DR/INS 복합 항법 알고리즘

Abstract

Recently, autonomous systems for inspection of facilities such as bridge and viaduct have been studied. To obtain precise facility inspection results, it is essential to proximity flight of the drone to facilities. And precise position information of the drone is required for proximity flight. However, when the drone approaches under the bridge, there are occurred the area where GNSS signal is denied by external factors such as multi-path and reduced number of satellites. In the environment that GNSS signal is denied, position information provided by the GNSS can suffer from significant errors, so GNSS position information is inaccurate. But the speed information provided by the GNSS has higher accuracy than position information. In this paper, we propose a GNSS-DR/INS integrated navigation algorithm using GNSS speed information for overcoming GNSS denial environment. The proposed algorithm used an adaptive measurement rule that determines measurement according to the quality of the GNSS signal. Through the experiment, it was confirmed that the proposed algorithm estimates stable position information in the GNSS signal weak area, and it was confirmed that the position accuracy of 73.03% was improved.